CN108823901B - Washing device and washing method for automatically identifying and cleaning stains - Google Patents
Washing device and washing method for automatically identifying and cleaning stains Download PDFInfo
- Publication number
- CN108823901B CN108823901B CN201811072294.3A CN201811072294A CN108823901B CN 108823901 B CN108823901 B CN 108823901B CN 201811072294 A CN201811072294 A CN 201811072294A CN 108823901 B CN108823901 B CN 108823901B
- Authority
- CN
- China
- Prior art keywords
- clothes
- washing
- image
- assembly
- moving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F35/00—Washing machines, apparatus, or methods not otherwise provided for
- D06F35/005—Methods for washing, rinsing or spin-drying
- D06F35/006—Methods for washing, rinsing or spin-drying for washing or rinsing only
-
- D06F2202/10—
-
- D06F2202/12—
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a washing device for automatically identifying and cleaning stains, which comprises: the device comprises a containing body, a washing component, a scanning module, an image input device, a processing module and a control component, wherein the washing component is arranged on a moving component and is close to clothes in the containing body; the scanning module is used for scanning and inputting information of clothes; the image input device is arranged on the moving assembly and used for shooting and inputting images of clothes; the processing module is connected with the scanning module and the image input device and used for acquiring and comparing the information of the clothes and the image of the clothes, positioning the position, which is not matched with the information of the clothes, in the image of the clothes and acquiring a positioning coordinate; the control assembly is used for controlling the moving assembly to move to the positioning coordinate, and the washing assembly is used for washing. The invention also discloses a laundry method. According to the intelligent clothes washing system and the intelligent clothes washing method, the stains on the clothes are intelligently identified and washed in a targeted mode, the stains on the clothes can be effectively removed, and the intelligent clothes washing degree is improved.
Description
Technical Field
The invention relates to the technical field of washing, in particular to a washing device and a washing method for automatically identifying and cleaning stains.
Background
The washing machines on the market at present mainly comprise a pulsator washing machine and a drum washing machine, wherein the pulsator washing machine is mainly used for fully mixing and contacting washing water mixed with a clothes treating agent with clothes, and fully rubbing and contacting the clothes and lines on the inner barrel wall of a washing barrel by turning over the clothes so as to achieve the cleaning effect on the clothes; the drum washing machine rotates the drum by the mechanical work of the motor, the clothes are lifted and dropped in the drum continuously, and then lifted and dropped again to do repeated motion, and the clothes are washed clean under the combined action of the washing powder and the water.
However, both pulsator washing machines and drum washing machines cannot recognize stains on specific positions of the laundry, and it is difficult to completely remove the stains on the laundry during washing by equally washing the laundry in a large range.
Disclosure of Invention
The invention aims to solve the technical problem that the washing machines on the market cannot identify the stains on the specific positions of the clothes, so that the clothes are equally washed in a large range, and the stains on the clothes are difficult to completely remove in the washing process.
In a first aspect, the present invention provides a laundry device with automatic stain recognition and cleaning, comprising: the clothes washing machine comprises a containing body, a washing assembly, a scanning module, an image input device, a processing module and a control assembly, wherein the containing body is internally provided with a storage assembly for vertically and flatly fixing clothes in the containing body;
the washing assembly is arranged on the moving assembly and close to the clothes in the accommodating body, and is used for displacing on a vertical plane and washing the clothes under the driving of the moving assembly, and the moving assembly is arranged in the accommodating body;
the scanning module is arranged in or out of the accommodating body and is used for scanning and inputting information of clothes, and the information of the clothes comprises cloth and color distribution of the clothes;
the image input device is arranged on the moving assembly and used for shooting and inputting images of clothes;
the processing module is connected with the scanning module and the image input device and used for acquiring and comparing the information of the clothes and the image of the clothes, positioning the position, which is not matched with the information of the clothes, in the image of the clothes and obtaining positioning coordinates;
the control assembly is used for controlling the moving assembly to move to the positioning coordinate, and the washing assembly is used for washing.
Optionally, the washing subassembly includes cleaning head and washing liquid container, the cleaning head with the washing liquid container is connected, the top of cleaning head is provided with the intercommunication the hydrojet mouth and a plurality of salient points of washing liquid container, the cleaning head still is connected with driving motor, is used for vibrations are beaten the clothing under driving motor's the drive.
Optionally, a dirt absorbing piece is detachably arranged in the accommodating body, and the dirt absorbing piece is close to the back of the clothes and used for absorbing dirt on the clothes which is removed.
Optionally, the moving assembly includes a vertical guide rail, a first moving device, a horizontal guide rail and a second moving device, the vertical guide rail is disposed in parallel on two sides of the inside of the accommodating body, and the first moving device is disposed on the vertical guide rail;
the two ends of the horizontal guide rail are arranged on the first moving device and used for moving along with the first moving device in the vertical direction, the second moving device is arranged on the horizontal guide rail, and the second moving device is further provided with a washing assembly used for driving the washing assembly to move on the horizontal guide rail.
In a second aspect, the present invention provides a laundry method comprising:
scanning a label or a bar code of clothes and acquiring information of the clothes, wherein the information of the clothes comprises cloth and color distribution of the clothes;
controlling a moving assembly provided with an image input device to move on a vertical plane, and acquiring an image of the clothes shot by the image input device;
comparing the information of the clothes with the image of the clothes, and positioning the position, which is not matched with the information of the clothes, in the image of the clothes to obtain positioning coordinates;
and controlling the moving assembly provided with the washing assembly to move to the positioning coordinate, and controlling the washing assembly to wash at the position of the clothes corresponding to the positioning coordinate.
Optionally, the comparing the information of the clothes with the image of the clothes, and the locating the position in the image of the clothes, which is not matched with the information of the clothes, includes:
identifying the image of the clothes by adopting an image identification method, and obtaining corresponding cloth and colors on each position of the image of the clothes;
and comparing the corresponding cloth and color on each position of the image of the clothes with the cloth and color distribution in the information of the clothes respectively, and positioning the position where the cloth or the color is not matched.
Optionally, the method further comprises:
acquiring a first clothes image according to color distribution in the information of the clothes, and carrying out graying on the first clothes image to obtain a first grayscale image;
graying the shot image of the clothes to obtain a second grayscale image;
comparing the gray values of the first gray image and the second gray image at the coordinate positions to obtain gray difference values at the coordinate positions;
taking the coordinate position with the gray difference value larger than 0 as a positioning coordinate, and controlling the moving assembly to move to the positioning coordinate;
and controlling the vibration cleaning force, frequency and duration of the washing assembly according to the gray difference value corresponding to the positioning coordinate.
Optionally, the obtaining of the positioning coordinates further includes:
identifying the type of the corresponding clothes stain on the positioning coordinate by an image identification method, wherein the type of the clothes stain comprises mud stain, oil stain and blood stain;
and when the washing component moves to the positioning coordinate, controlling the washing component to spray washing liquid corresponding to the type of the clothes stain onto the clothes corresponding to the positioning coordinate.
Optionally, the method further comprises:
acquiring a contour curve of the clothes according to the photographed image of the clothes, and planning a moving route of a washing assembly by taking a part surrounded by the contour curve as a position to be washed;
and controlling the moving assembly to move according to the moving route and controlling the washing assembly to wash the clothes on the moving route.
Optionally, after the controlling the moving assembly to move according to the moving route and the controlling the washing assembly to wash the clothes on the moving route, the method further includes:
controlling a moving assembly to move to the positioning coordinate, and acquiring an image of the positioning coordinate;
and comparing the information of the clothes with the image of the positioning coordinate, and controlling a washing assembly to carry out secondary washing on the position of the clothes corresponding to the positioning coordinate if the image of the positioning coordinate is not matched with the information of the clothes.
The invention has the following beneficial effects:
according to the intelligent clothes washing device, the clothes are vertically and flatly fixed in the accommodating body through the object placing assembly, the information of the clothes is input through the scanning module, the image of the clothes is shot and obtained through the image input device, the coordinate position of the stain on the clothes is obtained through comparing the information of the clothes with the actual image of the clothes, and finally the washing assembly is driven to the position of the stain for key washing of the stain.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural diagram of a laundry device with automatic stain recognition and cleaning according to the present invention;
FIG. 2 is another schematic structural diagram of a laundry device with automatic stain recognition and cleaning according to the present invention;
FIG. 3 is a schematic structural diagram of a washing module driven by a moving module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a moving assembly moving in a vertical direction according to an embodiment of the present invention;
fig. 5 is a schematic rear view of a first mobile apparatus according to an embodiment of the present invention;
FIG. 6 is an enlarged schematic view of a washing assembly according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a cleaning head according to an embodiment of the present invention;
fig. 8 is a schematic flow chart of a laundry method according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.
As shown in fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a laundry device for automatic stain recognition and cleaning according to the present invention, and fig. 2 is another schematic structural diagram of a laundry device for automatic stain recognition and cleaning according to the present invention. The embodiment of the invention provides a washing device for automatically identifying and cleaning stains, which comprises: the clothes washing machine comprises a containing body 1, a washing assembly 2, a scanning module, an image input device, a processing module and a control assembly, wherein the containing body 1 is internally provided with a storage assembly 11 for keeping clothes vertically and flatly fixed in the containing body 1. As shown in fig. 1 and 2, the storage assembly 11 can be a clothes hanging rod hidden in the storage body 1, a through groove is formed in the storage body 1, a rotatable supporting column is arranged in the middle of the through groove, and the clothes hanging rod penetrates through the supporting column and is fixed on the supporting column. As shown in fig. 1, when no clothes are needed, the clothes hanging rod can be horizontally hidden in the through groove, so that the space occupied by the clothes hanging rod is reduced; as shown in fig. 2, when washing is needed, the clothes hanging rod can be rotated 90 ° so that the clothes hanging rod is perpendicular to the accommodating body 1, and at this time, the clothes hanging rod can be hung on the clothes hanger to fix the clothes and keep the clothes in a vertical and flat state. It can be understood that in order to prevent clothes hung on the clothes hanger from falling down along with the sliding of the clothes hanger in the clothes washing process, a stop block can be arranged at the top end of the clothes hanging rod; in addition, the clothes hanging rod can be provided with a long groove for accommodating a hanger hook, and the clothes hanger is limited to slide back and forth on the clothes hanging rod under the limiting action of the long groove, so that the subsequent washing process is influenced.
The accommodating body 1 is internally provided with a moving assembly 3 capable of moving on a vertical plane, and the washing assembly 2 is mounted on the moving assembly 3 and close to clothes in the accommodating body 1 and is used for displacing on the vertical plane and washing the clothes under the driving of the moving assembly 3. Driven by the moving assembly 3, the washing assembly 2 can cover the whole surface part of the accommodating cavity in the accommodating body 1, namely, all positions of the whole piece of clothes hung in the accommodating body 1 can be washed.
The scanning module can be arranged in the accommodating body 1 or outside the accommodating body 1 and is used for scanning and inputting information of clothes, and the information of the clothes comprises cloth and color distribution of the clothes. It is understood that the clothes are generally provided with a label or a bar code attached with detailed information of the clothes, and the information of the clothes carried on the label or the bar code can be scanned and obtained by a scanner. The image input device is arranged on the moving component 3 and is used for shooting and inputting images of clothes; the processing module is connected with the scanning module and the image input device and used for acquiring and comparing the information of the clothes and the image of the clothes, positioning the position, which is not matched with the information of the clothes, in the image of the clothes and obtaining positioning coordinates; the control assembly is used for controlling the moving assembly 3 to move to the positioning coordinate, and the washing assembly 2 is used for washing.
The working principle of the washing device provided by the embodiment of the invention is as follows: before washing clothes, scanning is carried out by adopting a scanning module to obtain clothes information carried on labels or bar codes of clothes, then the clothes are hung on the object placing component 11 to be fixed, the moving component 3 is started to move up and down and left and right on a vertical plane in the accommodating body 1, meanwhile, images of the clothes are shot and recorded through the image recording device, the images of the clothes are transmitted to the processing module in real time, the processing module compares the images of the clothes with the information of the clothes which is scanned and recorded, stains on the clothes are identified, and the positions of the stains are recorded in a coordinate (such as x, y) mode. After the specific stain coordinate position is obtained, the processing module transmits the positioning coordinate to the control assembly, the moving assembly 3 is controlled to move to the positioning coordinate, and the washing assembly 2 is used for performing key washing on the stains of the clothes.
In addition, after the position of the dirt is identified, the washing assembly 2 is driven to wash the whole piece of clothes, and when the washing assembly 2 reaches the positioning coordinate, the washing assembly 2 is controlled to intensively wash the dirt part so as to achieve the effect of comprehensively washing the clothes. The washing device provided by the embodiment of the invention can intelligently identify and wash the stains on the clothes in a targeted manner, can effectively remove the stains on the clothes while cleaning the clothes comprehensively, and improves the intelligent degree of clothes washing.
Referring to fig. 3, 4 and 5, fig. 3 is a schematic structural view of a moving assembly 3 driving a washing assembly 2 to move in a plane according to an embodiment of the present invention, fig. 4 is a schematic structural view of a moving assembly 3 moving in a vertical direction according to an embodiment of the present invention, and fig. 5 is a schematic structural view of a back surface of a first moving device 32 according to an embodiment of the present invention. The moving assembly 3 comprises a vertical guide rail 31, a first moving device 32, a horizontal guide rail 33 and a second moving device 34, the vertical guide rail 31 is arranged on two sides inside the accommodating body 1 in parallel, the first moving device 32 is arranged on the vertical guide rail 31, the first moving device 32 comprises a first motor 321 and a first pulley 322, and the first motor 321 drives the first pulley 322 to drive the first moving device 32 to move on the vertical guide rail 31 in the vertical direction. The two ends of the horizontal guide rail 33 are disposed on the first moving device 32, and are configured to move in the vertical direction along with the first moving device 32, that is, the horizontal guide rail 33 can be driven by the first moving devices 32 at the two ends and move in the vertical direction; the second moving device 34 is disposed on the horizontal guide rail 33, the second moving device 34 includes a second motor 341 and a second pulley 342, and the second motor 341 drives the second pulley 342 to move on the horizontal guide rail 33 in the horizontal direction, so as to move the washing assembly 2 in the horizontal direction. The second moving device 34 is further provided with a washing assembly 2, and is used for driving the washing assembly 2 to move on the horizontal guide rail 33. Through the cooperation of the first moving device 32 and the second moving device 34, the washing assembly 2 can be driven to move on the whole vertical plane, so as to realize the overall washing of the clothes.
Referring to fig. 6, fig. 6 is an enlarged schematic structural diagram of a washing assembly 2 according to an embodiment of the present invention, in an implementation manner provided in the embodiment of the present invention, the washing assembly 2 may include a washing head 21 and a washing liquid container 22, the washing head 21 is connected to the washing liquid container 22, a liquid spraying port communicating with the washing liquid container 22 and a plurality of protruding points are disposed at a top end of the washing head 21, and the washing head 21 is further connected to a driving motor for vibrating and knocking clothes under the driving of the driving motor. The camera lens 4 of the image recording device may be attached to the moving unit 3 together with the cleaning head 21. Referring to fig. 7, fig. 7 is a schematic structural diagram of a cleaning head 21 according to an embodiment of the present invention, the cleaning head 21 is disposed above a cleaning liquid container 22, a liquid spraying opening is disposed at a middle position of the cleaning head 21, and a plurality of protruding points are distributed around the liquid spraying opening, in a process of washing clothes, a cleaning liquid in the cleaning liquid container 22 is firstly sucked and sprayed to the clothes through the liquid spraying opening, then a driving motor is started to drive the cleaning head 21 to vibrate and beat the clothes, and stains on the clothes are squeezed out by a beating and squeezing action of the protruding points on the cleaning head 21 on the clothes, so as to wash the clothes. In the positioning coordinate position of the dirt, the cleaning head 21 can be controlled to perform concentrated and repeated vibration striking on the positioning coordinate position to remove the dirt on the clothes, so that stubborn dirt on the clothes can be effectively removed.
In addition, in order to rapidly remove stains knocked off by vibration on the clothes and prevent the stains from being stained on the clothes again, a dirt absorbing piece 5 is detachably arranged in the accommodating body 1, and the dirt absorbing piece 5 is close to the back of the clothes and used for absorbing the stains on the clothes after removal. The dirt absorbing piece 5 can be made of materials such as dirt absorbing cotton cloth and the like, can absorb dirt knocked down on clothes quickly, and prevents dirt from silting up in the washing device to influence the subsequent washing process.
In the embodiment of the invention, the article placing assembly 11 is used for vertically and flatly fixing clothes in the accommodating body 1, the scanning module is used for inputting information of the clothes and the image inputting device is used for shooting to obtain the image of the clothes, the coordinate position of the stain on the clothes is obtained by comparing the information of the clothes with the actual image of the clothes, and finally the washing assembly 2 is driven to the position of the stain for key washing of the stain, so that the stain on the clothes can be intelligently identified and specifically washed, the stain on the clothes can be effectively removed, the intelligent degree of clothes washing is improved, and the intelligent clothes washing machine is particularly suitable for being applied to public places such as hotels, quick washing shops, commercial buildings and the like.
Based on the above-mentioned laundry device with automatic stain recognition and cleaning, the embodiment of the present invention further provides a laundry method, referring to fig. 8, the laundry method provided by the embodiment of the present invention includes:
s101, scanning labels or bar codes of clothes and acquiring information of the clothes, wherein the information of the clothes comprises cloth and color distribution of the clothes;
it can be understood that the clothes are generally provided with labels or bar codes attached with detailed information of the clothes, such as labels or bar codes at necklines of shirts or T-shirts and labels or bar codes at underpants of trousers, therefore, before washing, the labels or bar codes of the clothes are scanned in advance by a scanning module to obtain information such as cloth and color distribution of the clothes.
S102, controlling a moving assembly 3 provided with an image input device to move on a vertical plane, and acquiring an image of the clothes shot by the image input device;
after the information of the clothes is obtained through scanning, the clothes can be hung on the object placing component 11, the washing device is started, and the moving component 3 shoots and records the image of the whole clothes in the accommodating body 1 according to a preset route.
S103, comparing the information of the clothes with the image of the clothes, and positioning the position, which is not matched with the information of the clothes, in the image of the clothes to obtain a positioning coordinate;
specifically, an image recognition method may be adopted to recognize the image of the clothing, and obtain the cloth and the color corresponding to each position of the image of the clothing; then, the cloth and the color corresponding to each position of the image of the clothes are respectively compared with the cloth and the color distribution in the information of the clothes obtained by scanning, and the positions with unmatched cloth or color are positioned to obtain the positioning coordinates of the unmatched specific positions, wherein the positioning coordinates can be expressed in the form of (x, y).
And S104, controlling the moving assembly 3 provided with the washing assembly 2 to move to the positioning coordinate, and controlling the washing assembly 2 to wash at the clothes position corresponding to the positioning coordinate.
It should be noted that, since the dirt is usually a dirt point or a dirt block, each dirt point or each dirt block is generally formed by a plurality of adjacent positioning coordinates, before the washing assembly 2 is controlled to wash at the position of the clothes corresponding to the positioning coordinates, the positioning coordinates connected into a whole can be framed to form a dirt area according to the distribution of the positioning coordinates, and then a washing route for the dirt area is planned according to the size of the cleaning head 21 in the washing assembly 2 and the range size of the dirt area, so as to ensure that the dirt area is comprehensively cleaned while the washing efficiency is ensured, and avoid repeated washing for the same positioning coordinate. For example, when the dirty area is smaller than or equal to the size of the cleaning head 21, the cleaning head 21 can be moved to the position coordinates of the center-most of the dirty area, i.e., the position coordinates of the center point of the cleaning head 21 aligned with the center of the dirty area, and the dirty area is generally circular due to the effect of the spread of the dirty, so that the circular cleaning head 21 can cover the entire dirty area when moved to the center of the dirty area.
It can be understood that, because the contamination degree of different stains on the clothes to the clothes may be different, and the contamination degree of stains on different clothes to the clothes may also be different, in the actual washing process, if the same degree of washing force is adopted for all stains, the washing force may be too large for the stains with slight contamination, which increases the washing cost and prolongs the washing time; for the stains with serious pollution, the washing force may be small, and the stains cannot be completely removed, so that the washing is not clean. Therefore, in order to improve the intellectualization of the washing stains, the embodiment of the invention provides an implementation mode of carrying out intellectualized washing according to the pollution degree of the stains.
Acquiring a first clothes image according to color distribution in the information of the clothes, and carrying out graying on the first clothes image to obtain a first grayscale image; graying the shot image of the clothes to obtain a second grayscale image; comparing the gray values of the first gray image and the second gray image at the coordinate positions to obtain gray difference values at the coordinate positions; taking the coordinate position with the gray difference value larger than 0 as a positioning coordinate, and controlling the moving assembly 3 to move to the positioning coordinate; and controlling the vibration cleaning force, frequency and time of the washing component 2 according to the gray difference value corresponding to the positioning coordinate. It can be understood that, the deeper the color of the stain on the clothes is, the greater the contamination degree of the stain can be considered, in this embodiment, the first clothes image including the color distribution of the whole clothes is reconstructed according to the color distribution in the clothes information, and after the first clothes image and the photographed image of the clothes are respectively grayed, the grayscale values of the first grayscale image and the second grayscale image are compared. The larger the gray value of the coordinate point on the clothes is, the denser the color is, that is, the deeper the stain color is, the larger the contamination degree of the stain is, and the contamination degree of each coordinate position can be accurately obtained by obtaining the gray difference value of each coordinate position of the first gray image and the second gray image. When the gray scale difference is 0, the color of the coordinate point of the clothes is considered to be unchanged, that is, the clothes are not polluted, and when the gray scale difference is greater than 0, the coordinate point is considered to have dirt, and the larger the gray scale difference is, the deeper the dirt color of the coordinate point is, the larger the dirt pollution degree is, and the stronger washing force is required. When the gray difference value is small, the vibration cleaning force of the washing component 2 can be controlled to be small, the frequency is low, and the time length is short, so that the effect of quickly removing stains is achieved; when the gray difference value is large, the vibration cleaning force of the washing component 2 can be controlled to be large, the frequency is high, and the duration is long, so that the effect of completely removing stains is achieved.
It is understood that different types of stains, such as mud, oil, blood, etc., may be generally stained on the clothes, and it may be difficult to completely remove all types of stains with the same detergent for different types of stains, and the washing with the corresponding detergent may be more effective. Therefore, in the embodiment of the present invention, after obtaining the positioning coordinates, the method may further include: identifying the type of the corresponding clothes stain on the positioning coordinate by an image identification method, wherein the type of the clothes stain comprises mud stain, oil stain and blood stain; and when the washing component 2 moves to the positioning coordinate, controlling the washing component 2 to spray washing liquid corresponding to the type of the clothes stains onto the clothes corresponding to the positioning coordinate. For example, when the dirt of the clothes is identified to be mud dirt, common washing liquid can be sprayed to wash the mud dirt; when the stains of the clothes are identified to be oil stains, washing liquids such as detergent specially used for removing the oil stains can be sprayed to wash the oil stains; when the clothes stains are identified to be blood stains, cleaning liquid with strong dirt-removing capacity such as 'color stain cleaning' can be sprayed to clean the blood stains. The type of the stain is intelligently identified, and the corresponding washing liquid is adopted for washing, so that the washing effect can be effectively improved.
In addition to washing stains on laundry, in most cases, the entire piece of laundry needs to be washed. Therefore, the embodiment of the present invention may further include: acquiring a contour curve of the clothes according to the photographed image of the clothes, and planning a moving route of the washing assembly 2 by taking a part surrounded by the contour curve as a position to be washed; and controlling the moving assembly 3 to move according to the moving route and controlling the washing assembly 2 to wash the clothes on the moving route. It can be understood that, when an image of the whole piece of clothes is obtained through shooting, the position of the clothes in the accommodating cavity can be obtained according to the image of the whole piece of clothes, that is, a contour curve of the clothes can be obtained through drawing, a part surrounded by the contour curve is the whole piece of clothes, and a moving path of the washing assembly 2 can be obtained through planning according to the contour curve without controlling the washing assembly 2 to move and wash in a vertical plane of the whole accommodating cavity again.
Further, after controlling the moving assembly 3 to move and controlling the washing assembly 2 to wash the clothes on the moving route according to the moving route, the method further comprises: controlling the moving assembly 3 to move to the positioning coordinate, and acquiring an image of the positioning coordinate; and comparing the information of the clothes with the image of the positioning coordinate, and controlling the washing assembly 2 to carry out secondary washing on the position of the clothes corresponding to the positioning coordinate if the image of the positioning coordinate is not matched with the information of the clothes. After the spot is heavily washed, the spot may not be completely removed, so that the positioning coordinates for washing may be recorded, and after the positioning coordinates are washed, the moving assembly 3 is controlled to move to the positioning coordinates again to perform image shooting, if the image of the positioning coordinates is found to be not matched with the information of the clothes, the position of the positioning coordinates may be considered to have not been completely removed, and the washing assembly 2 may be controlled to perform secondary washing on the position of the clothes corresponding to the positioning coordinates.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A laundry device capable of automatically identifying and cleaning stains is characterized by comprising: the clothes washing machine comprises a containing body, a washing assembly, a scanning module, an image input device, a processing module and a control assembly, wherein the containing body is internally provided with a storage assembly for vertically and flatly fixing clothes in the containing body;
the washing assembly is arranged on the moving assembly and close to the clothes in the accommodating body, and is used for displacing on a vertical plane and washing the clothes under the driving of the moving assembly, and the moving assembly is arranged in the accommodating body;
the scanning module is arranged in or out of the accommodating body and is used for scanning and inputting information of clothes, and the information of the clothes comprises cloth and color distribution of the clothes;
the image input device is arranged on the moving assembly and used for shooting and inputting images of clothes;
the processing module is connected with the scanning module and the image input device and used for acquiring and comparing the information of the clothes and the image of the clothes, positioning the position, which is not matched with the information of the clothes, in the image of the clothes and obtaining positioning coordinates;
the control assembly is used for controlling the moving assembly to move to the positioning coordinate and washing by the washing assembly;
the washing assembly comprises a washing head and a washing liquid container, the washing head is connected with the washing liquid container, a liquid spraying opening communicated with the washing liquid container and a plurality of protruding points are formed in the top end of the washing head, and the washing head is further connected with a driving motor and used for vibrating and beating clothes under the driving of the driving motor;
the image recording device comprises a camera lens, and the camera lens and the cleaning head are mounted on the movable assembly.
2. The automatic stain identification and cleaning laundry device according to claim 1, wherein the accommodating body is detachably provided with a dirt absorbing member, and the dirt absorbing member is close to the back of the clothes and is used for absorbing stains on the clothes removed by the cleaning head.
3. The laundry device with automatic stain identification and cleaning functions as claimed in claim 1, wherein the moving assembly comprises a vertical guide rail, a first moving device, a horizontal guide rail and a second moving device, the vertical guide rail is arranged on two sides of the interior of the accommodating body in parallel, and the first moving device is arranged on the vertical guide rail;
the two ends of the horizontal guide rail are arranged on the first moving device and used for moving along with the first moving device in the vertical direction, the second moving device is arranged on the horizontal guide rail, and the second moving device is further provided with a washing assembly used for driving the washing assembly to move on the horizontal guide rail.
4. A laundry washing method applied to the laundry apparatus according to any one of claims 1 to 3, comprising:
scanning a label or a bar code of clothes and acquiring information of the clothes, wherein the information of the clothes comprises cloth and color distribution of the clothes;
controlling a moving assembly provided with an image input device to move on a vertical plane, and acquiring an image of the clothes shot by the image input device;
comparing the information of the clothes with the image of the clothes, and positioning the position, which is not matched with the information of the clothes, in the image of the clothes to obtain positioning coordinates;
and controlling the moving assembly provided with the washing assembly to move to the positioning coordinate, and controlling the washing assembly to wash at the position of the clothes corresponding to the positioning coordinate.
5. A laundry washing method according to claim 4, wherein comparing the information of the laundry with the image of the laundry, and locating a position in the image of the laundry that does not match the information of the laundry comprises:
identifying the image of the clothes by adopting an image identification method, and obtaining corresponding cloth and colors on each position of the image of the clothes;
and comparing the corresponding cloth and color on each position of the image of the clothes with the cloth and color distribution in the information of the clothes respectively, and positioning the position where the cloth or the color is not matched.
6. A laundry washing method according to claim 4, further comprising:
acquiring a first clothes image according to color distribution in the information of the clothes, and carrying out graying on the first clothes image to obtain a first grayscale image;
graying the shot image of the clothes to obtain a second grayscale image;
comparing the gray values of the first gray image and the second gray image at the coordinate positions to obtain gray difference values at the coordinate positions;
taking the coordinate position with the gray difference value larger than 0 as a positioning coordinate, and controlling the moving assembly to move to the positioning coordinate;
and controlling the vibration cleaning force, frequency and duration of the washing assembly according to the gray difference value corresponding to the positioning coordinate.
7. A laundry washing method according to claim 4, wherein obtaining the location coordinates further comprises:
identifying the type of the corresponding clothes stain on the positioning coordinate by an image identification method, wherein the type of the clothes stain comprises mud stain, oil stain and blood stain;
and when the washing component moves to the positioning coordinate, controlling the washing component to spray washing liquid corresponding to the type of the clothes stain onto the clothes corresponding to the positioning coordinate.
8. A laundry washing method according to claim 4, further comprising:
acquiring a contour curve of the clothes according to the photographed image of the clothes, and planning a moving route of a washing assembly by taking a part surrounded by the contour curve as a position to be washed;
and controlling the moving assembly to move according to the moving route and controlling the washing assembly to wash the clothes on the moving route.
9. A laundry washing method according to claim 8, wherein after controlling the moving assembly to move according to the moving route and controlling the washing assembly to wash the laundry on the moving route, the method further comprises:
controlling a moving assembly to move to the positioning coordinate, and acquiring an image of the positioning coordinate;
and comparing the information of the clothes with the image of the positioning coordinate, and controlling a washing assembly to carry out secondary washing on the position of the clothes corresponding to the positioning coordinate if the image of the positioning coordinate is not matched with the information of the clothes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811072294.3A CN108823901B (en) | 2018-09-14 | 2018-09-14 | Washing device and washing method for automatically identifying and cleaning stains |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811072294.3A CN108823901B (en) | 2018-09-14 | 2018-09-14 | Washing device and washing method for automatically identifying and cleaning stains |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108823901A CN108823901A (en) | 2018-11-16 |
| CN108823901B true CN108823901B (en) | 2020-08-04 |
Family
ID=64149784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811072294.3A Active CN108823901B (en) | 2018-09-14 | 2018-09-14 | Washing device and washing method for automatically identifying and cleaning stains |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108823901B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109594286B (en) * | 2018-11-26 | 2021-10-29 | 歌尔股份有限公司 | Intelligent clothes washing method and device and intelligent washing machine |
| CN109736111A (en) * | 2018-12-29 | 2019-05-10 | 台山市红岭洗染有限公司 | Denim fabric decoloration control method |
| DE102019202818A1 (en) * | 2019-03-01 | 2020-09-03 | BSH Hausgeräte GmbH | Method for assembling a load of a laundry care device |
| CN110508550A (en) * | 2019-09-04 | 2019-11-29 | 北京英特莱科技有限公司 | A kind of method of clean and maintenance special safety protective gear |
| CN112756324B (en) * | 2019-10-21 | 2023-02-17 | 深圳前海世纪裕桐科技有限公司 | Article cleaning method and device and terminal equipment |
| CN110859564A (en) * | 2019-11-28 | 2020-03-06 | 珠海格力电器股份有限公司 | Intelligent spraying cleaning device and dish washing machine |
| CN211848534U (en) * | 2019-12-04 | 2020-11-03 | 五邑大学 | Dry cleaning device |
| CN113136721B (en) * | 2020-01-17 | 2024-06-18 | 青岛海尔洗衣机有限公司 | Automatic deviation rectifying method of clothes stacking machine |
| CN111319052A (en) * | 2020-02-28 | 2020-06-23 | 五邑大学 | Multi-stain cleaning robot and moving path control method based on same |
| CN111364206A (en) * | 2020-03-20 | 2020-07-03 | 珠海格力电器股份有限公司 | Washing machine and control method |
| CN112011962B (en) * | 2020-09-01 | 2022-12-27 | 浙江易力车业有限公司 | Self-friction efficient collar cleaning device |
| CN112626800B (en) * | 2020-12-11 | 2021-08-13 | 孟少凯 | Intelligent washing method and device and intelligent washing machine |
| CN113397435A (en) * | 2021-07-10 | 2021-09-17 | 中建海龙科技有限公司 | Automatic floor cleaning method and equipment and storage medium |
| CN113877894A (en) * | 2021-09-06 | 2022-01-04 | 创轩(常熟)激光科技有限公司 | Laser cleaning device and cleaning method for bipolar plate of fuel cell |
| CN114438719A (en) * | 2022-01-21 | 2022-05-06 | 珠海格力电器股份有限公司 | Stain cleaning method and device, storage medium and electronic equipment |
| WO2024060854A1 (en) * | 2022-09-23 | 2024-03-28 | 吉智(宁波)智能科技有限公司 | Control method for clothing care device, and clothing care device |
| CN117888314B (en) * | 2024-03-18 | 2024-06-21 | 淮安市宇晨纺织印染有限公司 | Textile material liquid phase mixing treatment device and treatment method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104995346A (en) * | 2014-09-19 | 2015-10-21 | 海尔亚洲株式会社 | Stain removing device and stain removing unit |
| CN106400375A (en) * | 2016-11-18 | 2017-02-15 | 深圳创新设计研究院有限公司 | Washing machine |
| CN107974799A (en) * | 2016-10-21 | 2018-05-01 | 青岛海尔滚筒洗衣机有限公司 | A kind of method and washing machine of intelligent recognition washing clothing |
| CN207331305U (en) * | 2017-10-26 | 2018-05-08 | 深圳创新设计研究院有限公司 | Automatic washing apparatus |
| CN108166209A (en) * | 2018-01-23 | 2018-06-15 | 天津市职业大学 | A kind of multi-funcitonal hanging car washing installation and its clothes washing method |
| CN108301167A (en) * | 2018-01-15 | 2018-07-20 | 同济大学 | A kind of single-piece rapid washing machine based on steam injection |
-
2018
- 2018-09-14 CN CN201811072294.3A patent/CN108823901B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104995346A (en) * | 2014-09-19 | 2015-10-21 | 海尔亚洲株式会社 | Stain removing device and stain removing unit |
| CN107974799A (en) * | 2016-10-21 | 2018-05-01 | 青岛海尔滚筒洗衣机有限公司 | A kind of method and washing machine of intelligent recognition washing clothing |
| CN106400375A (en) * | 2016-11-18 | 2017-02-15 | 深圳创新设计研究院有限公司 | Washing machine |
| CN207331305U (en) * | 2017-10-26 | 2018-05-08 | 深圳创新设计研究院有限公司 | Automatic washing apparatus |
| CN108301167A (en) * | 2018-01-15 | 2018-07-20 | 同济大学 | A kind of single-piece rapid washing machine based on steam injection |
| CN108166209A (en) * | 2018-01-23 | 2018-06-15 | 天津市职业大学 | A kind of multi-funcitonal hanging car washing installation and its clothes washing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108823901A (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108823901B (en) | Washing device and washing method for automatically identifying and cleaning stains | |
| CN109594286B (en) | Intelligent clothes washing method and device and intelligent washing machine | |
| CN109162069B (en) | Stain recognition device based on vertical washing device | |
| US11864700B2 (en) | Self-cleaning method for cleaning robot, cleaning robot, and cleaning system | |
| EP3779026A1 (en) | Clothes treatment apparatus and control method thereof | |
| CN108729119B (en) | Fabric textile cleaning method | |
| CN112626800B (en) | Intelligent washing method and device and intelligent washing machine | |
| CN112718695B (en) | Full-automatic ultrasonic cleaning machine | |
| CN111876963A (en) | Laundry stain washing method, laundry device and storage medium | |
| CN111364206A (en) | Washing machine and control method | |
| RU2019130720A (en) | FLOOR CLEANER | |
| CN108754994B (en) | Fixed-point cleaning machine for textile fabrics | |
| CN108814444A (en) | A kind of sweeping robot leg follows cleaning method and device | |
| CN203462290U (en) | Washing machine and partial cleaning device thereof | |
| CN110352030A (en) | Dish cleaning machine and its control method | |
| CN103485117B (en) | Washing machine and partial cleaning arrangement thereof and method | |
| WO2002044793A1 (en) | Apparatus and method of cleaning glasses | |
| GB2253457A (en) | Golf club cleaning apparatus | |
| CN210643971U (en) | Cleaning robot | |
| JPS63145620A (en) | Blind washing apparatus | |
| CN209854400U (en) | Clothing stain belt cleaning device | |
| CN110512398A (en) | A kind of Intelligent purifying device and its working method based on stain components analysis | |
| CN113520253A (en) | Mobile spraying control method of dish washing machine, dish washing machine and storage medium | |
| CN115821528A (en) | Washing method and washing device of washing machine | |
| CN215251781U (en) | Clothes cleaning equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |